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检索条件"任意字段=International Asia Conference on Informatics in Control, Automation and Robotics"

共 1478 条记录，以下是241-250 订阅

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Visual Predictive control of Robotic Arms with Overlapping Workspace 16

Visual Predictive Control of Robotic Arms with Overlapping W...

引用

16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Le Flecher, E. Durand-Petiteville, A. Cadenat, V Sentenac, T. CNRS LAAS 7 Ave Colonel Roche F-31400 Toulouse France Univ Toulouse UPS F-31400 Toulouse France Fed Univ Pernambuco UFPE Mech Dept Recife PE Brazil

ISBN: (纸本)9789897583803

This paper deals with multi-arms fruits picking in orchards. More specifically, the goal is to control the arms to approach the fruits position. To achieve this task a VPC strategy has been designed to take into account the dynamic of the environment as well as the various constraints inherent to the mechanical system, visual servoing manipulation and shared workspace. Our solution has been evaluated in simulation using on PR2 arms model. Different models of visual features prediction have been tested and the entire VPC strategy has been run on various cases. The obtained results show the interest and the efficiency of this strategy to perform a fruit picking task.

关键词： Agricultural robotics Multi-arms Non-linear Model Predictive control Image based Visual Servoing

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Smoothing and Time Parametrization of Motion Trajectories for Industrial Machining and Motion control 16

Smoothing and Time Parametrization of Motion Trajectories fo...

引用

16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Belda, Kvetoslav Czech Acad Sci Inst Informat Theory & Automat Dept Adapt Syst Pod Vodarenskou Vezi 4 Prague 18208 8 Czech Republic

ISBN: (纸本)9789897583803

The paper deals with path smoothing and time parametrization procedures intended for motion control of industrial machine tools and robots. Path smoothing, considered in this paper, is based on the application of Bezier curves. A possible straightforward solution ensuring compliance with given admissible positional tolerances is introduced. Consequent time parametrization considered here employs arc length and specific construction of acceleration polynomials. It describes the motion along the obtained smoothed curve geometry. It is given by timing the arc length, thus the construction of the feed rate profile. The key parts of the time parametrization comprise: computation of path length;time parametrization with respect to arc length;and decomposition to the individual Cartesian components describing individual curve coordinates. The theoretical results are presented by representative examples in 2D and 3D spaces.

关键词： Path Model G-Code Path Smoothing Time Parametrization Bezier Curves Industrial robotics

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Development of an Experimental Strawberry Harvesting Robotic System 16

Development of an Experimental Strawberry Harvesting Robotic...

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16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Klaoudatos, Dimitrios S. Moulianitis, Vassilis C. Aspragathos, N. A. Univ Patras Dept Elect & Comp Engn Patras Greece Univ Aegean Dept Prod & Syst Design Engn Ermoupolis Syros Greece Univ Patras Mech Engn & Aeronaut Dept Patras Greece

ISBN: (纸本)9789897583803

This paper presents the development of an integrated strawberry harvesting robotic system tested in lab conditions in order to contribute to the automation of strawberry harvesting. The developed system consists of three main subsystems;the vision system, the manipulator and the gripper. The procedure for the strawberry identification and localization based on vision is presented in detail. The performance of the robotic system is assessed by the results of experiments that take place in the lab and they are related to the recognition of occluded strawberries, the check of the strawberries for possible bruises after the grasping and the accuracy of detection of the strawberries' location. The results show that the developed vision algorithm recognizes correctly every single strawberry and has high accuracy in recognizing occluded strawberries in which the largest part of each of them is visible. A small localization error results in a correct grasp and cut without causing damage to the fruit.

关键词： Agriculture robotics Harvesting Robot Robot Vision Robotic Gripper Robot Operating System Occluded Crops

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Investigation of Non-circular Scanning Trajectories in Robot-based Industrial X-ray Computed Tomography of Multi-material Objects 16

Investigation of Non-circular Scanning Trajectories in Robot...

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16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Landstorfer, Peter Herl, Gabriel Hiller, Jochen Fraunhofer Applicat Ctr CTMT Dieter Gorlitz Pl 2 D-94469 Deggendorf Germany Deggendorf Inst Technol Dieter Gorlitz Pl 1 D-94469 Deggendorf Germany

ISBN: (纸本)9789897583803

In this work the application of six-axis robots for robot-based industrial X-ray computed tomography (CT) imaging is investigated. In contrast to classical Cartesian manipulators with a turntable used in industrial cone-beam CT, robots offer increased flexibility regarding scanning trajectories. The increased flexibility with respect to scanning trajectories helps to gather highly informative content from alternative ray paths for a high-quality 3D reconstruction of the object to be scanned. Using numerical simulations we show that this additional informations increase the image quality of a CT scan of a multi-material measuring object, consisting of tantalum spheres and a carbon structure.

关键词： X-ray Computed Tomography X-ray Simulation robotics Robot-based Imaging Scanning Trajectory

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Combining Onthologies and Behavior-based control for Aware Navigation in Challenging Off-road Environments 16

Combining Onthologies and Behavior-based Control for Aware N...

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16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Wolf, Patrick Ropertz, Thorsten Feldmann, Philipp Berns, Karsten TD Kaiserslautern Dept Comp Sci Robot Res Lab Kaiserslautern Germany

ISBN: (纸本)9789897583803

Autonomous navigation in off-road environments is a challenging task for mobile robots. Recent success in artificial intelligence research demonstrates the suitability and relevance of neural networks and learning approaches for image classification and off-road robotics. Nonetheless, meaningful decision making processes require semantic knowledge to enable complex scene understanding on a higher abstraction level than pure image data. A promising approach to incooperate semantic knowledge are ontologies. Especially in the off-road domain, scene object correlations heavily influence the navigation outcome and misinterpretations may lead to the loss of the robot, environmental, or even personal damage. In the past, behavior-based control systems have proven to robustly handle such uncertain environments. This paper combines both approaches to achieve a situation-aware navigation in off-road environments. Hereby, the robot's navigation is improved using high-level off-road background knowledge in form of ontologies along with a reactive, and modular behavior network. The feasibility of the approach is demonstrated within different simulation scenarios.

关键词： Off-road robotics Ontology Behavior-based control Navigation Simulation

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Hybrid 6D Object Pose Estimation from the RGB Image 16

Hybrid 6D Object Pose Estimation from the RGB Image

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16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Staszak, Rafal Belter, Dominik Poznan Univ Tech Inst Control Robot & Informat Engn Poznan Poland

ISBN: (纸本)9789897583803

In this research, we focus on the 6D pose estimation of known objects from the RGB image. In contrast to state of the art methods, which are based on the end-to-end neural network training, we proposed a hybrid approach. We use separate deep neural networks to: detect the object on the image, estimate the center of the object, and estimate the translation and "in-place" rotation of the object. Then, we use geometrical relations on the image and the camera model to recover the full 6D object pose. As a result, we avoid the direct estimation of the object orientation defined in SO3 using a neural network. We propose the 4D-NET neural network to estimate translation and "in-place" rotation of the object. Finally, we show results on the images generated from the Pascal VOC and ShapeNet datasets.

关键词： Object Pose Estimation Convolutional Neural Networks Deep Learning in robotics

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informatics in control, automation and robotics 12th international conference, Icinco 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers

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2018年

作者： Joaquim Filipe Kurosh Madani Oleg Yu Gusikhin

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Progression of Human Hand Trajectory Variabilities during a Pick-and-Place Task 16

Progression of Human Hand Trajectory Variabilities during a ...

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16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Kuehnlenz, Kolja Hermann, Sergej Kalb, Kevin Marschollek, Lucas Kuehnlenz, Barbara Coburg Univ Appl Sci & Arts Robot Res Lab Dept Elect Engn & Comp Sci D-96450 Coburg Germany Tech Univ Munich Inst Cognit Syst Dept Elect Engn & Informat Technol D-80290 Munich Germany

ISBN: (纸本)9789897583803

This paper investigates the progression of human hand trajectory variabilities during a pick-and-place task. A user study is conducted and human hand positions are tracked optically. Standard deviations of human hand positions over all trajectories within a trial are computed point-wise orthogonally to the direct path between start and goal positions. Statistical tests reveal a decrease of standard deviations from hand start to goal positions. Moreover, stronger variations of standard deviations are noted in during the center part of the trajectories. Contrary to expectations, a longitudinal study design does not reveal learning effects in terms of reduction of trajectory variabilities. The results suggest, that uncertainties of human hand positions increase with the distance to a goal location and could constitute a larger risk for collisions within a cooperative human-robot pick-and-place scenario, e.g. assembly.

关键词： robotics Human-robot Interaction Human Factors

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Smart Wheelchairs: Using robotics to Bridge the Gap between Prototypes and Cost-effective Set-ups 16

Smart Wheelchairs: Using Robotics to Bridge the Gap between ...

引用

16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Aquilina, Matthew Bugeja, Marvin K. Fabri, Simon G. Univ Malta Dept Syst & Control Engn MSD-2080 Msida Malta

ISBN: (纸本)9789897583803

Wheelchairs have improved the lives of many people with limited mobility. Yet, to this day, conventional wheelchairs are still not a viable option for mobility independence in cases of people with severe weakness or poor coordination e.g. Amyotrophic Lateral Sclerosis (ALS). Smart wheelchairs (SWs) overcome many of these limitations by adding an extra layer of intelligence to the system. SWs have so far remained mostly inaccessible to the general public, due to a limited market presence and steep costs. This paper thus presents the design and implementation of a novel SW which makes the upgrade of a commercially available motorised wheelchair to a SW a much simpler process. The system is a complete implementation offering low-level hardware control, a specialised ROS architecture and autonomous navigation algorithms allowing shared user control or fully-autonomous movement. Contrary to most other published works, the focus of this paper is to implement a fully-featured working prototype with minimal hardware complexity and an efficient modular software development environment. Initial practical tests in typical use scenarios showcased the successful operation of the complete system. The developed prototype SW has the potential to restore autonomy to people who are unable to use conventional or powered wheelchairs.

关键词： Smart Wheelchair Assistive Technology ROS Autonomous Navigation Mapping Electronic Hardware Design

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Symbolic Self-triggered control of Continuous-time Non-deterministic Systems without Stability Assumptions for 2-LTL Specifications

Symbolic Self-triggered Control of Continuous-time Non-deter...

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international conference on control, automation, robotics and Vision (ICARCV)

作者： Sasinee Pruekprasert Clovis Eberhart Jérémy Dubut National Institute of Informatics Tokyo Japan Japanese-French Laboratory for Informatics

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

We propose a symbolic self-triggered controller synthesis procedure for non-deterministic continuous-time nonlinear systems without stability assumptions. The goal is to compute a controller that satisfies two objectives. The first objective is represented as a specification in a fragment of LTL, which we call 2-LTL. The second one is an energy objective, in the sense that control inputs are issued only when necessary, which saves energy. To this end, we first quantise the state and input spaces, and then translate the controller synthesis problem to the computation of a winning strategy in a mean-payoff parity game. We illustrate the feasibility of our method on the example of a navigating nonholonomic robot.

关键词： Games Stability analysis control systems Aerospace electronics Trajectory Sensors Safety

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